CN111232078B - Adsorption type obstacle-crossing pole-climbing bionic robot - Google Patents
Adsorption type obstacle-crossing pole-climbing bionic robot Download PDFInfo
- Publication number
- CN111232078B CN111232078B CN202010089468.8A CN202010089468A CN111232078B CN 111232078 B CN111232078 B CN 111232078B CN 202010089468 A CN202010089468 A CN 202010089468A CN 111232078 B CN111232078 B CN 111232078B
- Authority
- CN
- China
- Prior art keywords
- gear
- climbing
- pole
- mounting frame
- clamping device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an adsorption type obstacle-crossing pole-climbing bionic robot which comprises a control box, two mechanical arms, a clamping device and a control system, wherein the two mechanical arms are symmetrically arranged on the left side and the right side of the control box. One end of each mechanical arm is rotationally connected with the corresponding side of the control box, and the other end of each mechanical arm is provided with a clamping device. The two sides of the control box are respectively provided with a first steering engine, the first steering engines drive the mechanical arms on the same side to rotate, and the bottom of the control box is also provided with a clamping device. The mechanical arm comprises an upper arm and a forearm, one end of the upper arm is movably connected with one end of the forearm through an elbow joint, and an elbow joint driving mechanism is arranged on the elbow joint. The clamping device comprises a mounting frame, two clamping mechanisms and two adsorption mechanisms, wherein the two clamping mechanisms are symmetrically arranged at two ends of the mounting frame. The climbing device is ingenious in structural layout, can be suitable for pipelines and bent rods with various sections or diameters, has good obstacle crossing capability, strong universality, good firmness and better climbing capability, improves safety and prolongs service life.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to an adsorption type obstacle-crossing pole-climbing bionic robot.
Background
The pole climbing robot is an important branch of robot, thereby the pole climbing robot need overcome the effect of gravity and depends on the pipeline reliably, the wire pole, the light pole, high-rise shaft-like thing such as bridge suspension cable climbs on the surface and freely removes, accomplish the detection under the specific condition, the maintenance, operation such as washing, current pole climbing robot only can be applicable to straight-bar or certain cross-section, the pipeline of diameter, the climbing of rope, do not possess the ability of crossing the obstacle, can't realize the climbing on return bend or the pole of buckling, the commonality is poor, and climbing in-process fastness is poor, the easy situation that results in the damage that appears skidding. Therefore, it is necessary to design a bionic robot capable of climbing poles by obstacle and using adsorption and auxiliary clamping so as to adapt to straight poles, bent pipes or ropes with different diameters or cross-sectional shapes.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an adsorption type obstacle-crossing pole-climbing bionic robot, which solves the problems that the existing pole-climbing robot cannot cross obstacles, can only meet the use requirement of a straight pole or a rope with a uniform cross section, has poor universality and poor firmness in the climbing process, and is easy to slip and damage.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an adsorption type climbing pole bionic robot capable of crossing obstacles comprises a control box, two mechanical arms, two clamping devices and a control system, wherein the two mechanical arms are symmetrically arranged on the left side and the right side of the control box.
One end of each mechanical arm is rotatably connected with the corresponding side of the control box, and the other end of each mechanical arm is provided with the clamping device.
The two sides of the control box are respectively provided with a first steering engine, the first steering engines drive the mechanical arms on the same side to rotate, and the bottom of the control box is also provided with a clamping device.
The mechanical arm comprises an upper arm and a forearm, one end of the upper arm is movably connected with one end of the forearm through an elbow joint, and an elbow joint driving mechanism is arranged on the elbow joint.
The other end of the upper arm is movably connected with the control box through a shoulder joint, and the other end of the forearm is movably connected with the corresponding clamping device through a wrist joint.
The clamping device comprises a mounting frame, two clamping mechanisms and two adsorption mechanisms, wherein the two clamping mechanisms are symmetrically arranged at two ends of the mounting frame.
The adsorption mechanism also has two, and the symmetry sets up the bottom at the mounting bracket.
Further, the control box includes box, rotatory backup pad and camera, and the box is the square structure who is enclosed by box curb plate, box roof and box bottom plate, and the camera passes through the push rod motor and sets up in the box top.
Furthermore, the rotary supporting plates are arranged in two groups and symmetrically arranged at the left side and the right side of the box body, and each group of rotary supporting plates comprises two rotary supporting plates which are arranged one above the other and are connected with the box body in a rotating mode.
Two rotatory backup pads of the same group all link to each other with the shoulder joint that corresponds is fixed, and first steering wheel passes through the shoulder joint of rotatory backup pad drive homonymy and rotates for the box, the signal end and the control system electricity of first steering wheel are connected.
Furthermore, the upper arm and the forearm are respectively positioned at two sides of the elbow joint, one end of the upper arm is hinged with the shoulder joint, and the other end of the upper arm is hinged with one side of the elbow joint.
One end of the forearm is hinged with the other side of the elbow joint, the other end of the forearm is hinged with the wrist joint, and the wrist joint is fixedly connected with the corresponding clamping device.
The wrist joint is provided with a second steering engine, the output end of the second steering engine is fixedly connected with the mounting frame corresponding to the clamping device, and the signal end of the second steering engine is electrically connected with the control system.
Furthermore, the elbow joint driving mechanism comprises a first gear, a second gear and a first speed reduction motor, and the first gear and the second gear are arranged on the inner side of the elbow joint.
The first gear is arranged at the end part of the upper arm, the upper arm is hinged with the elbow joint through a gear shaft of the first gear, the second gear is arranged at the end part of the forearm, and the forearm is hinged with the elbow joint through a gear shaft of the second gear.
The first gear motor is arranged on the outer side of the elbow joint, the output end of the first gear motor is fixedly connected with a gear shaft of the first gear, the front arm is driven to rotate around a gear shaft of the second gear, and the first gear motor is electrically connected with the control system.
Further, clamping device still includes actuating mechanism, actuating mechanism includes direct current motor, third gear and two-way lead screw, and direct current motor passes through first motor support fixed mounting in one side top of mounting bracket, and the third gear setting is at direct current motor's output, and direct current motor's signal end and control system electricity are connected.
The two-way lead screw is arranged on the mounting frame and is in running fit with the mounting frame, two ends of the two-way lead screw extend out of the outer side of the mounting frame and are respectively provided with a worm gear, and the worm gears drive the clasping mechanisms on the same side to move.
Furthermore, each clasping mechanism comprises a worm support, a worm, a driving rod, a driven rod and a connecting rod, wherein the worm support is positioned below the mounting frame and fixedly connected with the corresponding side of the mounting frame.
The worm is arranged at one end of the driving rod, and the driving rod is rotatably connected with the worm support through the worm.
The other end of the driving rod is hinged with the middle part of the driven rod, one end of the side link is hinged with the worm support, the other end of the side link is hinged with one end of the driven rod, and the driving rod, the driven rod, the side link and the worm support form a double-rocker mechanism.
The inside walls of the driving rod and the driven rod are clamping surfaces, and anti-skid layers are arranged on the clamping surfaces.
Further, two adsorption device symmetrical arrangement are in the mounting bracket below, and adsorption device includes a slider and a set of sucking disc, the slider is located the below of mounting bracket, and its upper end and mounting bracket horizontal sliding fit.
And each sliding block is provided with a driving block, the driving blocks are fixedly connected with the corresponding sliding blocks, meanwhile, the driving blocks are sleeved on the bidirectional screw rod and are in threaded fit with the bidirectional screw rod, and when the bidirectional screw rod rotates, the two sliding blocks can be driven to synchronously move relatively.
Furthermore, a second motor support is arranged on the outer side of each sliding block, and the second motor supports are fixedly connected with the sliding blocks on the same side into a whole.
The second motor support is provided with a deceleration direct current motor, the output end of the deceleration direct current motor is fixedly provided with a driving wheel, the two deceleration direct current motors are symmetrically arranged, and the signal end of each deceleration direct current motor is electrically connected with the control system.
Furthermore, two linear guide rails are symmetrically arranged on the front side and the rear side of the top of each mounting frame, sliding grooves are formed in the front side and the rear side of the upper portion of each sliding block respectively, and the sliding grooves are in sliding fit with the two linear guide rails.
By adopting the technical scheme, the invention has the beneficial technical effects that: under the barrier-free condition, the double-rocker mechanism can travel by the driving wheel and the adsorption device, the driving wheel is driven by the speed-reducing direct-current motor, the double-rocker mechanism plays a role in assisting in clamping and fixing, so that the double-rocker mechanism cannot deviate from a traveling route, and the mechanical arm plays a role in assisting in improving the traveling speed of the clamping device, so that the traveling speed and the reliability are improved. Under the obstacle crossing condition, the double-rocker mechanism is opened, and the mechanical arm enables the clamping device to cross the obstacle to continue walking by being lifted. Under the turning condition, the mechanical arm drives the rotary supporting plate and the clamping device to drive the wrist joint to turn through the steering engine. Therefore, the adsorption type obstacle-surmounting and pole-climbing bionic robot provided by the invention has the advantages of high walking speed, strong obstacle-surmounting capability and high reliability, and can be suitable for straight poles, bent poles and ropes with different cross-sectional shapes or diameters.
Drawings
FIG. 1 is a schematic structural diagram of an attitude of an adsorption type obstacle-surmounting pole-climbing bionic robot.
FIG. 2 is a schematic structural diagram of another posture of the adsorption type obstacle-crossing pole-climbing bionic robot.
Fig. 3 is a schematic view of a portion of fig. 1 showing a robotic arm.
Fig. 4 is a schematic view of the structure of the clamping device of the present invention in a clamped state.
Fig. 5 is a schematic view of the structure of the clamping device of the invention in an open state.
Fig. 6 is a schematic bottom view of the clamping device of the present invention with the mounting bracket removed.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings:
with reference to fig. 1 to 6, an adsorption type climbing pole bionic robot capable of crossing obstacles comprises a control box 1, a mechanical arm 2, a clamping device and a control system, wherein the control box 1 comprises a box body 11, a rotary supporting plate 14 and a camera 12, the box body 11 is a square structure formed by fixedly connecting box body side plates 111, a box body top plate 112 and a box body bottom plate 113 through bolts, and a gasket is fixedly arranged at the bottom of the box body bottom plate 113 and plays the roles of buffering and shock absorption. The inside fixed mounting of box 11 has push rod motor 13, camera 12 is located box 11 top, and fixed mounting is at the output through push rod motor 13, and push rod motor 13 control camera 12 motion, camera 12's signal end is connected with the control system electricity, and control system adopts prior art's singlechip. The inside of box 11 still is provided with the power, and the power preferred adopts chargeable formula battery, and the power is the push rod motor 13 power supply, and simultaneously, the power still can hinder more and climb all power consumption parts power supply of pole biomimetic robot for the absorption formula.
The rotating support plates are arranged in two groups, are symmetrically arranged on the left side and the right side of the box body 11, each group of rotating support plates comprises two rotating support plates 14 which are arranged one above the other and are connected with the box body 11 in a rotating mode, and specifically, the two rotating support plates 14 in the same group are connected with the box body 11 in a rotating mode through fixing shafts. Two sides of the control box 1 are respectively provided with a first steering engine 15, the first steering engines 15 drive the mechanical arms 2 on the same side to rotate, and the bottom of the control box 1 is also provided with a clamping device. The output end of the first steering engine 15 is coaxially and fixedly connected with the fixed shaft, and the first steering engine 15 drives the rotary supporting plate 14 to horizontally rotate through the fixed shaft.
The two mechanical arms 2 are symmetrically arranged on the left side and the right side of the control box 1, the two rotary supporting plates 14 in the same group are fixedly connected with one end of the corresponding mechanical arm 2 through bolts, the first steering engine 15 drives the mechanical arm 2 on the same side to rotate relative to the box body 11 through the two rotary supporting plates 14 in the same group, and a signal end of the first steering engine 15 is electrically connected with the control system. One end of each mechanical arm 2 is rotationally connected with the corresponding side of the control box 1, the other end of each mechanical arm is provided with the clamping device, and the first steering engine 15 can drive the mechanical arms 2 to rotate around the fixed shaft to adjust the angle of the mechanical arms 2 and the positions of the clamping devices on the mechanical arms 2.
The mechanical arm 2 comprises an upper arm 21 and a forearm 22, one end of the upper arm 21 is movably connected with one end of the forearm 22 through an elbow joint 23, and an elbow joint driving mechanism 24 is arranged on the elbow joint 23. The elbow joint driving mechanism 24 includes a first gear 241, a second gear 242, and a first reduction motor 243, and the first gear 241 and the second gear 242 are disposed inside the elbow joint 23 and rotatably connected to the elbow joint 23. The first gear 241 is arranged at the end of the upper arm 21, the upper arm 21 is hinged with the elbow joint 23 through the gear shaft of the first gear 241, the second gear 242 is arranged at the end of the forearm 22, the forearm 22 is hinged with the elbow joint 23 through the gear shaft of the second gear 242, and the first gear 241 is meshed with the second gear 242. First gear motor 243 fixed mounting is in the outside of elbow joint 23, and its output links to each other with the gear shaft of first gear 241 is fixed, and drive forearm 22 rotates around the gear shaft of second gear 242, and first gear 241 and its gear shaft structure as an organic whole, second gear 242 and gear shaft structure as an organic whole also, first gear motor 243 is connected with control system electricity, and first gear motor 243 adjusts the position of contained angle and clamping device between upper arm 21 and forearm 22 through first gear 241 and second gear 242.
The other end of the upper arm 21 is movably connected with the control box 1 through a shoulder joint 26, and the other end of the forearm 22 is movably connected with a corresponding clamping device through a wrist joint 25. Upper arm 21 and forearm 22 are located the both sides of elbow joint 23 respectively, and the one end of upper arm 21 is articulated with shoulder joint 26, and its other end is articulated with one side of elbow joint 23, shoulder joint 26 links to each other with two rotatory backup pad 14 homogeneous bolt fixings of its homonymy, and first steering wheel 15 passes through rotatory backup pad adjustment shoulder joint 26's angle. One end of the forearm 22 is hinged with the other side of the elbow joint 23, the other end thereof is hinged with a wrist joint 25, and the wrist joint 25 is fixedly connected with a corresponding clamping device. A second steering engine 251 is arranged on the wrist joint 25, the output end of the second steering engine 251 is fixedly connected with the mounting frame 3 corresponding to the clamping device, the signal end of the second steering engine 251 is electrically connected with the control system, and the output end of the second steering engine 251 drives the corresponding clamping device to rotate so as to adjust the posture of the clamping device.
Clamping device includes mounting bracket 3, embraces mechanism 4, adsorption apparatus structure 5 tightly, embraces mechanism 4 tightly and has two, and the symmetry sets up the both ends at mounting bracket 3. The clamping device further comprises a driving mechanism 6, the driving mechanism 6 comprises a direct current motor 61, a third gear 62 and a bidirectional screw rod 63, the direct current motor 61 is fixedly installed above one side of the installation frame 3 through a first motor support 611, the third gear 62 is coaxially and fixedly installed at the output end of the direct current motor 61, and the signal end of the direct current motor 61 is electrically connected with a control system. Two-way lead screw 63 sets up on mounting bracket 3, the both ends of two-way lead screw 63 are respectively through bearing and mounting bracket 3 normal running fit, the both ends of two-way lead screw 63 stretch out the mounting bracket 3 outside, and coaxial fixed mounting has a worm wheel 64 respectively, the worm wheel 64 and the meshing of third gear 62 of one end wherein of two-way lead screw 63, direct current motor 61 drives two worm wheel 64 synchronous rotations through third gear 62 and two-way lead screw 63, every worm wheel 64 respectively with the 4 gear connections of the mechanism of holding tightly of homonymy, and can drive two 4 synchronous motion of the mechanism of holding tightly, the realization is pressed from both sides tightly or is opened.
Each clasping mechanism 4 comprises a worm support 41, a worm 42, a driving rod 43, a driven rod 44 and a connecting rod 45, wherein the worm support 41 is positioned below the mounting frame 3 and fixedly connected with the corresponding side thereof. The worm 42 is fixedly connected with one end of the driving rod 43, meanwhile, the worm 42 is rotatably connected with the worm support 41 on the same side, the worm wheel 64 drives the worm 42 to rotate, the worm wheel 64 and the worm 42 are non-self-locking, and the driving rod 43 is rotatably connected with the worm support 41 through the worm 42. The other end of the driving rod 43 is hinged with the middle part of the driven rod 44, one end of the side link 45 is hinged with the worm support 41, the other end of the side link is hinged with one end of the driven rod 44, and the driving rod 43, the driven rod 44, the side link 45 and the worm support 41 form a double-rocker mechanism.
The inner side walls of the driving rods 43 and the driven rods 44 are clamping surfaces, anti-slip layers 46 are arranged on the clamping surfaces, the worm 42 is meshed with the corresponding worm wheel 64, the worm wheel 64 drives the driving rods 43 to rotate through the worm 42, the driven rods 44 move along with the driving rods 43, meanwhile, the driven rods 44 rotate around the driving rods 43 under the action of the connecting rods 45, angle adjustment between the two driving rods 43 and the two driven rods 44 is achieved, and therefore the two clasping mechanisms 4 are clamped or opened.
The adsorption mechanism 5 is also two, and two adsorption mechanism 5 symmetries set up in the bottom of mounting bracket 3, and adsorption mechanism 5 includes a slider 51 and a set of sucking disc 52, slider 51 is located the below of mounting bracket 3, and its upper end and mounting bracket 3 horizontal sliding fit. The group of suction cups 52 comprises at least two suction cups 52 arranged regularly, and the suction cups 52 are connected with an air pump arranged in the control box 1. Specifically, two linear guide rails 31 are symmetrically arranged on the front side and the rear side of the top of each mounting frame 3, and sliding grooves are respectively formed in the front side and the rear side of the upper portion of each sliding block 51 and are in sliding fit with the two linear guide rails 31 through the sliding grooves.
Each slide block 51 is provided with a driving block 53, each driving block 53 is fixedly connected with the corresponding slide block 51, meanwhile, the driving block 53 is sleeved on the bidirectional screw rod 63 and is in threaded fit with the bidirectional screw rod 63, and when the bidirectional screw rod 63 rotates, the two slide blocks 51 can be driven to synchronously move relatively. The outer side of each sliding block 51 is provided with a second motor bracket 71, and the second motor bracket 71 is fixedly connected with the sliding block 51 on the same side into a whole. The second motor support 71 is provided with a deceleration direct current motor 72, the output end of the deceleration direct current motor 72 is fixedly provided with a driving wheel 73, the two deceleration direct current motors 72 are symmetrically arranged, and the signal end of the deceleration direct current motor 72 is electrically connected with the control system. When the bidirectional screw 63 rotates, the two sliders 51 are driven by the driving block 53 to synchronously move close to or away from the linear guide rail 31.
The working process of the invention is as follows:
the walking process of the adsorption type obstacle-crossing pole-climbing bionic robot is carried out in two steps, firstly, a driving rod 43 and a driven rod 44 of a clamping device at the bottom of a control box 1 are in a clamping state, and the fixation of the adsorption type obstacle-crossing pole-climbing bionic robot on a rod piece is realized. The clamping devices at the end parts of the two mechanical arms 2 are respectively positioned at two sides of the control box 1, the driving rods 43 and the driven rods 44 of the two clamping devices at the end parts of the mechanical arms 2 are separated from the surface of the rod piece and are kept at the outer side of the rod piece, the driving wheel 73 is tightly attached to the outer wall of the rod piece under the action of the suction cup 52, and the speed reduction direct current motor 72 drives the driving wheel 73 to move. According to the walking direction, the clamping device on one side of the control box 1 moves in the direction far away from the control box 1, the clamping device on the other side of the control box 1 moves in the direction close to the control box 1, the movement of the clamping devices on the two sides of the control box 1 is realized by driving the corresponding mechanical arms 2 through the elbow joint driving mechanism 24, and specifically, the posture adjustment of the upper arm 21 and the forearm 22 is realized through the first gear 241 and the second gear 242.
Secondly, the clamping devices on the two sides of the control box 1 stop moving after moving to the right position, the driving rods 43 and the driven rods 44 of the two clamping devices on the two sides of the two mechanical arms 2 clamp the rod pieces, meanwhile, the driving rods 43 and the driven rods 44 of the clamping devices on the bottom of the control box 1 release the rod pieces, are separated from the surfaces of the rod pieces and are kept at the outer sides of the rod pieces, the clamping devices on the bottom of the control box 1 are tightly attached to the outer walls of the rod pieces by the driving wheels 73 under the action of the suction cups 52, the decelerating direct current motors 72 drive the driving wheels 73 and the suction cups work to walk to one side of the traveling direction, meanwhile, the clamping devices on the bottom of the control box 1 move to one side of the traveling direction according to the traveling direction, the movement of the clamping devices on the bottom of the control box 1 is realized by driving the corresponding mechanical arms 2 by the elbow joint driving mechanisms 24, the two mechanical arms, the two clamping devices at both sides of the control box 1 are restored to the initial state. The two processes are sequentially and alternately carried out, so that the adsorption type obstacle-crossing pole-climbing bionic robot can continuously climb on the straight pole, the bent pole or the rope.
In the obstacle crossing situation, when the walking meets an obstacle in the normal situation, the driving mechanism 6 of the clamping device controls the driving rod 43 and the driven rod 44 to be opened, the elbow joint driving mechanism 24 adjusts the posture of the mechanical arm to enable the clamping device at the end part of the mechanical arm to be lifted to cross the obstacle, and then the mechanical arm is restored to the normal situation to be kept outside the rod again to continue the walking.
In the turning situation, firstly, a clamping device at the end part of a mechanical arm 2 at one side of the advancing direction is opened, the mechanical arm 2 is driven to rotate for a certain angle by a first steering engine 15 arranged at one side of the advancing direction of a control box 1 through a rotating support plate 14, then the clamping device at the bottom of the mechanical arm 2 is driven to rotate for a certain angle through a second steering engine 251 arranged at a wrist joint 25 to complete steering, and the clamping device at the end part of the mechanical arm 2 is opened to clamp a rod again and continues to walk.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (10)
1. An adsorption type obstacle-crossing pole-climbing bionic robot comprises a control box, two mechanical arms, a clamping device and a control system, and is characterized in that the two mechanical arms are symmetrically arranged on the left side and the right side of the control box;
one end of each mechanical arm is rotatably connected with the corresponding side of the control box, and the other end of each mechanical arm is provided with the clamping device;
the two sides of the control box are respectively provided with a first steering engine, the first steering engines drive the mechanical arms on the same side to rotate, and the bottom of the control box is also provided with a clamping device;
the mechanical arm comprises an upper arm and a forearm, one end of the upper arm is movably connected with one end of the forearm through an elbow joint, and the elbow joint is provided with an elbow joint driving mechanism;
the other end of the upper arm is movably connected with the control box through a shoulder joint, and the other end of the forearm is movably connected with the corresponding clamping device through a wrist joint;
the clamping device comprises a mounting frame, two clamping mechanisms and two adsorption mechanisms, wherein the two clamping mechanisms are symmetrically arranged at two ends of the mounting frame;
the adsorption mechanism also has two, and the symmetry sets up the bottom at the mounting bracket.
2. The adsorption type obstacle-surmounting pole-climbing bionic robot as claimed in claim 1, wherein the control box comprises a box body, a rotary supporting plate and a camera, the box body is a square structure enclosed by a box body side plate, a box body top plate and a box body bottom plate, and the camera is arranged above the box body through a push rod motor.
3. The adsorption type obstacle-crossing pole-climbing bionic robot as claimed in claim 2, wherein there are two groups of rotating support plates symmetrically arranged at the left and right sides of the box body, each group of rotating support plates comprises two rotating support plates which are arranged one above the other and are rotatably connected with the box body;
two rotatory backup pads of the same group all link to each other with the shoulder joint that corresponds is fixed, and first steering wheel passes through the shoulder joint of rotatory backup pad drive homonymy and rotates for the box, the signal end and the control system electricity of first steering wheel are connected.
4. The suction-type obstacle-surmounting pole-climbing bionic robot as claimed in claim 1, wherein the upper arm and the forearm are respectively located at two sides of the elbow joint, one end of the upper arm is hinged with the shoulder joint, and the other end of the upper arm is hinged with one side of the elbow joint;
one end of the forearm is hinged with the other side of the elbow joint, the other end of the forearm is hinged with the wrist joint, and the wrist joint is fixedly connected with the corresponding clamping device;
the wrist joint is provided with a second steering engine, the output end of the second steering engine is fixedly connected with the mounting frame corresponding to the clamping device, and the signal end of the second steering engine is electrically connected with the control system.
5. The suction-type obstacle-surmounting pole-climbing bionic robot as claimed in claim 4, wherein the elbow joint driving mechanism comprises a first gear, a second gear and a first speed reduction motor, the first gear and the second gear are arranged on the inner side of the elbow joint;
the first gear is arranged at the end part of the upper arm, the upper arm is hinged with the elbow joint through a gear shaft of the first gear, the second gear is arranged at the end part of the forearm, and the forearm is hinged with the elbow joint through a gear shaft of the second gear;
the first gear motor is arranged on the outer side of the elbow joint, the output end of the first gear motor is fixedly connected with a gear shaft of the first gear, the front arm is driven to rotate around a gear shaft of the second gear, and the first gear motor is electrically connected with the control system.
6. The adsorption type obstacle-surmounting pole-climbing bionic robot as claimed in claim 1, wherein the clamping device further comprises a driving mechanism, the driving mechanism comprises a direct current motor, a third gear and a bidirectional screw rod, the direct current motor is fixedly mounted above one side of the mounting frame through a first motor support, the third gear is arranged at the output end of the direct current motor, and the signal end of the direct current motor is electrically connected with the control system;
the two-way lead screw is arranged on the mounting frame and is in running fit with the mounting frame, two ends of the two-way lead screw extend out of the outer side of the mounting frame and are respectively provided with a worm gear, and the worm gears drive the clasping mechanisms on the same side to move.
7. The adsorption type obstacle-surmounting pole-climbing bionic robot as claimed in claim 1, wherein each of the clasping mechanisms comprises a worm support, a worm, a driving pole, a driven pole and a connecting pole, the worm support is positioned below the mounting frame and fixedly connected with the corresponding side of the mounting frame;
the worm is arranged at one end of the driving rod, and the driving rod is rotationally connected with the worm support through the worm;
the other end of the driving rod is hinged with the middle part of the driven rod, one end of the side link is hinged with the worm support, the other end of the side link is hinged with one end of the driven rod, and the driving rod, the driven rod, the side link and the worm support form a double-rocker mechanism;
the inside walls of the driving rod and the driven rod are clamping surfaces, and anti-skid layers are arranged on the clamping surfaces.
8. The adsorption type obstacle-surmounting pole-climbing bionic robot as claimed in claim 6, wherein two adsorption mechanisms are symmetrically arranged below the mounting frame, each adsorption mechanism comprises a slide block and a group of suckers, the slide blocks are located below the mounting frame, and the upper ends of the slide blocks are in transverse sliding fit with the mounting frame;
and each sliding block is provided with a driving block, the driving blocks are fixedly connected with the corresponding sliding blocks, meanwhile, the driving blocks are sleeved on the bidirectional screw rod and are in threaded fit with the bidirectional screw rod, and when the bidirectional screw rod rotates, the two sliding blocks can be driven to synchronously move relatively.
9. The adsorption type obstacle-crossing pole-climbing bionic robot as claimed in claim 8, wherein a second motor bracket is arranged on the outer side of each sliding block, and the second motor bracket is fixedly connected with the sliding blocks on the same side into a whole;
the second motor support is provided with a deceleration direct current motor, the output end of the deceleration direct current motor is fixedly provided with a driving wheel, the two deceleration direct current motors are symmetrically arranged, and the signal end of each deceleration direct current motor is electrically connected with the control system.
10. The suction type obstacle-surmounting pole-climbing bionic robot as claimed in claim 8, wherein two linear guide rails are symmetrically arranged on the front side and the rear side of the top of each mounting frame, and sliding grooves are respectively formed in the front side and the rear side of the upper portion of each sliding block and are in sliding fit with the two linear guide rails through the sliding grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010089468.8A CN111232078B (en) | 2020-02-13 | 2020-02-13 | Adsorption type obstacle-crossing pole-climbing bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010089468.8A CN111232078B (en) | 2020-02-13 | 2020-02-13 | Adsorption type obstacle-crossing pole-climbing bionic robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111232078A CN111232078A (en) | 2020-06-05 |
| CN111232078B true CN111232078B (en) | 2021-06-22 |
Family
ID=70873077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010089468.8A Active CN111232078B (en) | 2020-02-13 | 2020-02-13 | Adsorption type obstacle-crossing pole-climbing bionic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111232078B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141235A (en) * | 2020-09-21 | 2020-12-29 | 桂林电子科技大学 | Bionic tree-inhabiting reconnaissance monitoring robot |
| CN113787527B (en) * | 2020-09-29 | 2023-05-16 | 湖南金森电力建设集团有限公司 | Tail end clamping device for automatic overhaul climbing robot of iron tower |
| CN112224297B (en) * | 2020-10-15 | 2021-11-05 | 哈尔滨工程大学 | Hull magnetic adsorption type wall-climbing robot |
| CN112353579B (en) * | 2020-11-13 | 2023-01-31 | 长春理工大学 | Traction type old-people-assisting stair climbing device and working method thereof |
| CN113073731A (en) * | 2021-04-07 | 2021-07-06 | 武汉合创四联科技发展有限公司 | High-rise building sewage pipeline cleaning device and using method thereof |
| CN114852290B (en) * | 2022-03-31 | 2023-06-27 | 广州大学 | Modularized underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm |
| CN115180040B (en) * | 2022-08-12 | 2024-02-20 | 兰州理工大学 | Bionic foot type wall climbing robot based on elastic claw thorns and centering grabbing disc |
| CN117578258B (en) * | 2023-10-13 | 2024-05-28 | 武汉理工大学 | Bionic multifunctional high-voltage cable crawler |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202593669U (en) * | 2012-04-06 | 2012-12-12 | 上海电机学院 | Connecting rod type pole-climbing robot |
| KR20150066703A (en) * | 2013-12-09 | 2015-06-17 | 임우연 | Robot to climb pillar |
| CN105109571A (en) * | 2015-09-18 | 2015-12-02 | 北京理工大学 | Folding type retractable tree climbing robot |
| CN109334803A (en) * | 2018-10-26 | 2019-02-15 | 国网湖南省电力有限公司 | Electric power tower climbs crusing robot |
| CN110682975A (en) * | 2019-09-23 | 2020-01-14 | 中国石油大学胜利学院 | Pole-climbing robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI581844B (en) * | 2016-01-27 | 2017-05-11 | Genius Toy Taiwan Co Ltd | Climbing wall toys |
-
2020
- 2020-02-13 CN CN202010089468.8A patent/CN111232078B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202593669U (en) * | 2012-04-06 | 2012-12-12 | 上海电机学院 | Connecting rod type pole-climbing robot |
| KR20150066703A (en) * | 2013-12-09 | 2015-06-17 | 임우연 | Robot to climb pillar |
| CN105109571A (en) * | 2015-09-18 | 2015-12-02 | 北京理工大学 | Folding type retractable tree climbing robot |
| CN109334803A (en) * | 2018-10-26 | 2019-02-15 | 国网湖南省电力有限公司 | Electric power tower climbs crusing robot |
| CN110682975A (en) * | 2019-09-23 | 2020-01-14 | 中国石油大学胜利学院 | Pole-climbing robot |
Non-Patent Citations (1)
| Title |
|---|
| 新型巡线机器人的运动学算法分析;魏军英，李东民，王吉岱;《机械研究与应用》;中国知网期刊全文数据库;20070830;第20卷(第4期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111232078A (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111232078B (en) | Adsorption type obstacle-crossing pole-climbing bionic robot | |
| CN107214685B (en) | Suspension type robot rail running gear | |
| CN201504053U (en) | Pitch variable wheel arm composite inspection robot mechanism | |
| CN102005705B (en) | Suspended line walking robot | |
| CN100379529C (en) | Robot travelling along overhead high voltage transmission line | |
| CN106740899A (en) | Electric tunnel inspection robot walking structure, robot and its method | |
| CN101168254A (en) | Swinging arm type transmission line polling robot | |
| CN103832797A (en) | Suspension chain conveyor system | |
| CN105244808A (en) | Cable climbing robot for power transmission line to perform on-line monitoring | |
| US9359027B2 (en) | Traction robot | |
| CN205100621U (en) | Stereo garage vehicle handling device based on wheel rail | |
| CN102709838A (en) | High-voltage power transmission line inspection robot mechanism | |
| CN102039591A (en) | Variable-pitch wheel-arm composite inspection robot mechanism | |
| CN111224346B (en) | High tension transmission line inspection robot with multiple motion modes | |
| CN105484546A (en) | Vehicle carrying device for stereo garage | |
| CN102758549B (en) | Carrying mechanism of tyred flow intelligent parking robot | |
| CN211617712U (en) | Railway hump operation unhooking robot system | |
| CN113800359B (en) | Mine steel wire rope dust and dirt removing robot and working method | |
| CN205051255U (en) | Robot is scrambleed to cable for transmission line on -line monitoring | |
| CN115013641B (en) | Rust removal robot and rust removal method suitable for pipelines with various diameters | |
| CN114715303B (en) | Pipe pole inspection robot with climbing and obstacle crossing functions | |
| CN205415599U (en) | Robot device with clamping function | |
| CN1853873A (en) | Walking clamping mechanism of autonomous obstacle-crossing inspection robot | |
| CN112455468B (en) | Three-arm type high-voltage line walking robot | |
| CN102758550A (en) | Rubber-tyred flowable intelligent parking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230824 Address after: Room 301, 3rd Floor, No. 14 Shanghai Road, Qianwan Bonded Port Area, Huangdao District, Qingdao City, Shandong Province, 266555 (B) Patentee after: Qingdao Dazuan Intelligent Manufacturing Co.,Ltd. Address before: 579 qianwangang Road, Huangdao District, Qingdao City, Shandong Province Patentee before: SHANDONG University OF SCIENCE AND TECHNOLOGY |